CN113059750A - Injection vulcanization molding system for rubber shaft sleeve assembly and using method - Google Patents
Injection vulcanization molding system for rubber shaft sleeve assembly and using method Download PDFInfo
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- CN113059750A CN113059750A CN202110301868.5A CN202110301868A CN113059750A CN 113059750 A CN113059750 A CN 113059750A CN 202110301868 A CN202110301868 A CN 202110301868A CN 113059750 A CN113059750 A CN 113059750A
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- shaft sleeve
- grabbing
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C45/00—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor
- B29C45/14—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor incorporating preformed parts or layers, e.g. injection moulding around inserts or for coating articles
- B29C45/14008—Inserting articles into the mould
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C45/00—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor
- B29C45/17—Component parts, details or accessories; Auxiliary operations
- B29C45/40—Removing or ejecting moulded articles
- B29C45/42—Removing or ejecting moulded articles using means movable from outside the mould between mould parts, e.g. robots
- B29C45/4225—Take-off members or carriers for the moulded articles, e.g. grippers
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02W—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO WASTEWATER TREATMENT OR WASTE MANAGEMENT
- Y02W30/00—Technologies for solid waste management
- Y02W30/50—Reuse, recycling or recovery technologies
- Y02W30/62—Plastics recycling; Rubber recycling
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- Moulds For Moulding Plastics Or The Like (AREA)
Abstract
The invention relates to an injection vulcanization molding system of a rubber shaft sleeve assembly and a using method thereof; the conveying mechanism is used for conveying the shaft sleeve; the rubber shaft sleeve assembly taking mechanism comprises a three-shaft moving frame and a mechanical arm assembly arranged on the output end of the three-shaft moving frame, the mechanical arm assembly is relatively perpendicular to the output end and can rotate circumferentially, and the mechanical arm assembly comprises a frame body and a first grabbing tool and a second grabbing tool which are arranged at two ends of the frame body respectively; the framework row disc is transported to the rubber shaft sleeve assembly material taking mechanism through the delivery mechanism; the injection vulcanizing machine is used for injection vulcanization molding of the rubber shaft sleeve assembly; a production and processing assembly line of the high-efficiency rubber shaft sleeve assembly is formed, wherein the assembly line comprises material placing, material delivering, material taking, material discharging, injection vulcanization molding and finished product taking, and the production efficiency is improved.
Description
Technical Field
The invention relates to the technical field of injection molding preparation of rubber shaft sleeve assemblies, in particular to an injection vulcanization molding system of a rubber shaft sleeve assembly and a using method of the injection vulcanization molding system.
Background
As shown in fig. 20, the conventional rubber shaft sleeve assembly B includes a shaft sleeve and an annular disk, an inner ring of the annular disk is sleeved on one end of a center shaft, and rubber material is injected between the inner ring of the annular disk and a shaft body of the center shaft by an injection machine to form a rubber end surface, so as to form a complete rubber shaft sleeve assembly.
At present, in a general process for preparing the rubber shaft sleeve assembly in a factory, a worker respectively picks the shaft sleeve and the annular wafer from a storage box for placing the shaft sleeve and the annular wafer, the shaft sleeve and the annular wafer are gradually placed in a model cavity of an injection machine, after the placement is finished, the injection machine carries out mold closing injection, finally, mold opening molding is carried out, and after the rubber shaft sleeve assembly is cooled for a period of time, the prepared rubber shaft sleeve assembly is taken out of a mold through the worker; the process is extremely complicated, the production efficiency is extremely low, and workers need to stretch hands into the die, so that certain potential safety hazards exist, such as the hands are pressed or scratched by equipment; in addition, because the substrates need to be placed one by one, there are risks of missing placement or misplacement, which further causes cost increase and resource waste.
Disclosure of Invention
The invention aims to provide an injection vulcanization molding system of a rubber shaft sleeve assembly and a using method thereof, and the system can form a high-efficiency production and processing assembly line of the rubber shaft sleeve assembly from material placing, material delivering, material taking, material discharging, injection vulcanization molding and finished product taking out, so that the production efficiency is improved.
To achieve the above object, the main technical solution of the present invention is an injection vulcanization molding system for a rubber bushing assembly, comprising:
the conveying mechanism is used for conveying the shaft sleeve;
the shaft sleeve grabbing mechanism is used for grabbing shaft sleeves and moving the shaft sleeves back and forth between the conveying mechanism and the framework row disc;
the rubber shaft sleeve assembly taking mechanism comprises a three-axis moving frame and a manipulator assembly arranged on the output end of the three-axis moving frame, wherein the manipulator assembly is relatively perpendicular to the output end and can rotate in the circumferential direction; the second grabbing tool is used for grabbing the shaft sleeve and the annular wafer and placing the shaft sleeve and the annular wafer in a placing hole position in the movable model cavity; the first grabbing tool and the second grabbing tool switch to extend between the fixed die and the movable die to grab and place movement through rotation;
the framework row disc is transported to the rubber shaft sleeve assembly material taking mechanism through the delivery mechanism;
the injection vulcanizing machine is used for injection vulcanization molding of the rubber shaft sleeve assembly, comprises a case and a mold arranged in the case, and comprises a fixed mold and a movable mold; a plurality of injection runners are arranged in the cavity of the fixed die, a plurality of placing hole sites for placing the shaft sleeve assembly are arranged in the cavity of the movable die, and each injection runner corresponds to one placing hole site during die assembly; under the technical scheme, a processing and preparation assembly line for automatically producing the rubber shaft sleeve assembly is formed by mutual operation and cooperation of all mechanisms, so that the production efficiency is greatly improved, wherein two places need to be carried by workers, one place needs to place the shaft sleeve in a shaft sleeve stacking box on a conveying belt in a standing state for conveying, and needs to place the annular wafer in the framework row disc, and the second place needs to place the shaft sleeve on a delivery mechanism after the shaft sleeve is placed and filled in the framework row disc by a placement mechanism, so that the manual operation is reduced to a greater extent, and articles and human body damage in the carrying process are eliminated; in addition, the mechanical arm assembly is driven to extend into or move out of the injection vulcanizing machine through translation of the three-axis moving frame, the mechanical arm assembly is driven to perform grabbing or placing operation of the rubber shaft sleeve assembly through lifting of the three-axis moving frame, the mechanical arm assembly performs circumferential rotation, the orientation of the first grabbing tool and the orientation of the second grabbing tool are switched, and grabbing or placing operation of the shaft sleeve and the annular wafer is further achieved; its advantage lies in, can take out fashioned rubber axle sleeve subassembly automatically from the mould to and snatch the axle sleeve in the back and place the mould, this flow all need not the manual work and goes on, promote production machining efficiency, and can protect operating personnel, eliminate the potential safety hazard, and need not to wait for fashioned rubber axle sleeve subassembly cooling, directly can snatch, snatch the in-process, can let fashioned rubber axle sleeve subassembly cool off gradually.
In some examples, the shaft sleeve grabbing manipulator comprises a four-shaft mechanical arm and a grabbing manipulator arranged on the output end of the four-shaft mechanical arm; snatch the manipulator and set up the first jack catch on the crossbeam pole of grabbing the frame including grabbing the frame and a plurality of activities, can freely adjust its interval between the adjacent first jack catch, this interval is confirmed according to the distance between the loading hole site of skeleton spareribs, and its advantage lies in because there is certain interval error in the interval between the loading hole site of every skeleton spareribs inevitably, and this axle sleeve snatchs the manipulator and uses more extensively applicable.
In some examples, the first grabbing tool comprises a first grabbing part and a second grabbing part, the arrangement positions of the first grabbing part and the second grabbing part are opposite, the first grabbing part is arranged at the bottom of the frame body, and the first grabbing part is used for grabbing the formed rubber shaft sleeve assembly in the moving mold cavity; the second snatchs the portion and sets up at the support body top, and the second snatchs the portion and is used for snatching the stub bar of deciding the model intracavity, under this technical scheme, through the oscilaltion of travelling arm, and then orders about same frock of snatching and realize snatching two kinds of different materials, need not to set up alone again and snatching the stub bar structure, if add a mechanism of snatching the stub bar more, can increase the complexity of equipment spare part and circuit procedure on the one hand, and on the other hand occupies great space, and it is loaded down with trivial details to implement.
In some examples, the first grabbing part comprises a plurality of second claws, the second claws can extend into the inner hole of the shaft sleeve, and two elastic salient points are arranged at the bottom ends of the second claws and abut against the shaft sleeve so as to grab the formed rubber shaft sleeve assembly; the grasping shaft sleeve or the forming shaft sleeve assembly adopting the mode is based on the characteristics of the shaft sleeve, and has the advantages of simple grasping structure, convenient operation, high grasping efficiency and low cost; if all adopt claw formula to open and shut and snatch, snatch the inefficiency, because the outer wall of axle sleeve is the curved surface, so claw formula is opened and shut and is difficult to snatch.
In some examples, the second grabbing part comprises a first clamping plate, a second clamping plate and a driver, the driver is connected to one side of the second clamping plate and can drive the second clamping plate to move horizontally relative to the first clamping plate, a plurality of material taking through holes are formed in the first clamping plate, the second clamping plate is located between the first clamping plate and the frame body, and a plurality of clamping through holes corresponding to the material taking through holes are formed in the second clamping plate; the overlapped part of the clamping through hole and the material taking through hole is used as a staggered clamping cavity for clamping the stub bar.
In some examples, the second grabbing tool comprises a plurality of third clamping jaws and two suckers are symmetrically arranged on two sides of each third clamping jaw respectively, and the distance between the two suckers is larger than the inner aperture of the annular wafer and smaller than the outer diameter of the annular wafer.
A method of using a rubber bushing assembly injection vulcanization molding system, comprising:
step 1: placing the shaft sleeves placed in the shaft sleeve stacking box on a conveying belt in a standing state so as to convey the shaft sleeves;
step 2: the grabbing manipulator is driven by the four-axis mechanical arm to grab four shaft sleeves on the conveying belt at one time, and after the grabbing is successful, the grabbing manipulator is driven by the four-axis mechanical arm again to drive the shaft sleeves to move back to the upper side of the framework row plate, and the shaft sleeves are placed in corresponding loading hole positions of the framework row plate;
and step 3: taking out the first framework row disc filled with the shaft sleeve and the second framework row disc filled with the annular circular disc from the workbench, carrying the first framework row disc and the second framework row disc into a delivery vehicle for stacking and storage, and pushing the delivery vehicle to a rubber shaft sleeve assembly taking mechanism after the delivery vehicle is filled with the framework row discs, so that the rubber shaft sleeve assembly taking mechanism can grasp the rubber shaft sleeve assembly;
and 4, step 4: the mechanical arm assembly moves downwards under the driving of the three-axis moving frame, the second grabbing tool is close to the second framework row disc, the sucker sucks the annular wafer, then the second grabbing tool moves to be close to the first framework row disc, and the clamping jaws penetrate through the end part of the inner diameter hole of the shaft sleeve to grab the shaft sleeve; after grabbing, moving upwards, rotating 180 degrees, enabling a second grabbing tool to move horizontally towards a mold of the injection vulcanizing machine, enabling the second grabbing tool to extend into a space between the fixed mold and the movable mold and move downwards, enabling the second grabbing tool to be close to the movable mold cavity, and placing the shaft sleeve and the annular wafer into a placing hole position in the movable mold cavity; moving upwards and retreating, withdrawing the second grabbing tool from the injection vulcanizing machine, reversing 180 degrees, and carrying out the next operation of grabbing the annular wafer and the shaft sleeve;
and 5: an injection vulcanizing machine carries out die assembly, rubber material injection, vulcanization and finally die opening; meanwhile, after the three-axis moving frame is reversed by 180 degrees in the step 4, the first grabbing tool faces the mold of the injection vulcanizing machine again, the moving arm is moved horizontally, the first grabbing tool is moved to extend into the mold and move downwards, the clamping jaws of the first grabbing part extend into the inner diameter holes of the shaft sleeve and abut against the grabbing shaft sleeve to move upwards, and the molded rubber shaft sleeve assembly is taken out of the movable mold cavity;
step 6: after the molded rubber shaft sleeve assembly is taken out, the first grabbing tool continues to ascend, and a stub bar ascending to the cavity of the fixed die is inserted into the material taking through hole and the clamping through hole; starting the cylinder, translating the second clamping plate, clamping the stub bar, moving the second grabbing part downwards, taking the stub bar out of the injection flow channel, translating, moving the first grabbing tool out of the injection vulcanizing machine, and finally discharging and storing;
and 7: and (6) repeating the steps 4 to 6 to prepare the molded rubber shaft sleeve assembly in batches.
In some examples, step 2 comprises: step 2.1: before the grabbing manipulator is driven to move and grab by the four-axis mechanical arm, the air cylinder on the output end of the four-axis mechanical arm drives the lifting column to move upwards or downwards, and the distance between the clamping jaws between adjacent clamping jaws is adjusted based on the distance between the loading hole sites of the framework row tray through linkage of the multistage connecting rods.
In some examples, step 2 further comprises: step 2.2: in the grabbing process, the cylinder drives the driving rod to press downwards, the two elastic balls are extruded to protrude out of the through hole, and the two elastic balls are abutted to the shaft sleeve to be grabbed; in the placing process, the cylinder drives the driving rod to move upwards, the two elastic balls retract into the through hole, and the shaft sleeve falls into the loading hole position of the framework row plate by self gravity.
In some examples, step 4 further comprises: step 4.1: when the sucking disc sucks the annular wafer positioned at the top, the annular wafer moves upwards to the position where the first annular wafer enters the first circular section, and moves towards the inner wall with the step wall surface in a translation mode, and under the pushing of the step wall surface, the rest sucked annular wafers fall back into the second circular section.
Drawings
Figure 1 is a schematic structural diagram of a placing mechanism and a conveying mechanism,
figure 2 is a schematic structural view of a sleeve gripping robot assembly,
figure 3 is a schematic diagram of a plan view perspective structure of a sleeve grabbing robot assembly,
FIG. 4 to FIG. 11 are schematic diagrams of the rubber shaft sleeve assembly reclaiming mechanism for reclaiming, discharging, moving, rotating and other processes and the injection vulcanizer for closing, injecting, vulcanizing and opening the mold,
figure 12 is a schematic view of a second gripping portion,
figure 13 is a schematic view of the embodiment of figure 12 from a-a,
figure 14 is a schematic view of the suction cup and second skeletal row of disks,
figure 15 is a schematic view of the embodiment of figure 14 from view b-b,
figure 16 is a schematic view of the internal structure of the jaws,
figure 17 is a schematic structural view of a first grasping tool,
figure 18 is a schematic structural view of a second grasping tool,
figure 19 is an enlarged view of the portion of the structure in region d of the embodiment of figure 18,
figure 20 is a schematic view of the construction of a rubber bushing assembly,
in the figure: the shaft sleeve grabbing mechanical arm assembly 1, the four-shaft mechanical arm 2, the first framework row disc 3, the workbench 4, the conveying belt 5, the injection vulcanizing machine 6, the moving die 61, the fixed die 62, the injection flow channel 621, the rubber shaft sleeve assembly taking mechanism 7, the second grabbing tool 71, the sucking disc 711, the first grabbing tool 72, the first clamping plate 721, the material taking through hole 7211, the second clamping plate 722, the clamping through hole 7221, the moving arm 73, the frame body 74, the delivery vehicle 8, the second framework row disc 9, the first circular section 91, the second circular section 92, the step wall surface 93, the first clamping jaw 10, the locking ball 101, the shaft rod 102, the inclined surface 1021, the driving rod 103, the grabbing frame 11, the cross beam 111, the lifting column 12, the first connecting rod 13, the second connecting rod 14, the air cylinder 15, the pressing plate 16, the rubber end surface 110, the annular wafer 120, the shaft sleeve A, the rubber shaft sleeve assembly B, the material head C.
Detailed Description
The following description is presented to disclose the invention so as to enable any person skilled in the art to practice the invention. The preferred embodiments in the following description are given by way of example only, and other obvious variations will occur to those skilled in the art. The basic principles of the invention, as defined in the following description, may be applied to other embodiments, variations, modifications, equivalents, and other technical solutions without departing from the spirit and scope of the invention.
It will be understood by those skilled in the art that in the present disclosure, the terms "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in an orientation or positional relationship indicated in the drawings for ease of description and simplicity of description, and do not indicate or imply that the referenced devices or components must be in a particular orientation, constructed and operated in a particular orientation, and thus the above terms are not to be construed as limiting the present invention.
It is to be understood that the terms "a" and "an" are to be interpreted as meaning that a number of one element may be one in one embodiment or multiple in another embodiment, and the terms "a" and "an" are not to be interpreted as limiting the number.
Example 1:
referring to fig. 1 to 20 of the drawings of the present specification, a rubber bush assembly injection vulcanization molding system according to a preferred embodiment of the present invention includes a conveying mechanism, a placing mechanism, a delivering mechanism, a rubber bush assembly taking mechanism 7, and an injection vulcanizing machine 6; the structure of the rubber shaft sleeve assembly is as shown in fig. 20, before injection vulcanization processing, the rubber shaft sleeve assembly comprises a shaft sleeve and an annular wafer, after injection vulcanization is performed through an injection vulcanizing machine 6, the shaft sleeve penetrates through an inner diameter hole of the annular wafer and is integrated through rubber bonding, the conveying mechanism is used for conveying the shaft sleeve, the conveying mechanism comprises a conveying belt 5, and each shaft sleeve is placed on the conveying belt 5 in a vertical state for ordered conveying. The placing mechanism is arranged at one side of the other end of the conveying belt 5 and comprises a shaft sleeve grabbing mechanical arm and a plurality of framework arrangement discs, the shaft sleeve grabbing manipulator is used for grabbing shaft sleeves on the conveying belt 5 and placing the shaft sleeves on the framework row discs, each framework row disc can be stacked mutually, each framework row disc is provided with a plurality of loading hole sites for placing loading shaft sleeves, when a skeleton row of disks is loaded with full sleeves, it is placed in a delivery mechanism, delivered to the rubber sleeve assembly take off mechanism 7, the shaft sleeves loaded on the framework row disc are taken out and placed into an injection vulcanizing machine 6 through a rubber shaft sleeve assembly material taking mechanism 7, after the injection vulcanizing machine 6 is processed through the working procedures of mold closing, rubber injection, vulcanization, mold opening and the like, forming a rubber shaft sleeve assembly, and taking out the rubber shaft sleeve assembly and the redundant stub bars in the injection vulcanizing machine 6 through a material taking mechanism 7 of the rubber shaft sleeve assembly; under the technical scheme, a complete set of rubber shaft sleeve assembly injection vulcanization molding processing assembly line is formed, stacking, material delivery, material discharge and material taking can be completed through equipment, only two places need to be operated in the middle, firstly, randomly stacked shaft sleeves need to be manually placed on a conveying belt 5 for transportation in a standing state, secondly, after shaft sleeve grabbing manipulators grab and place the shaft sleeves in a framework arrangement disc, the shaft sleeves need to be manually carried to a delivery mechanism, if the delivery mechanism is implemented as a delivery vehicle 8, the delivery vehicle 8 needs to be manually further pushed to a rubber shaft sleeve assembly material taking mechanism 7, but the two places need less manpower, continuous work is not needed, and the post can be trained quickly; this processing line can improve work efficiency effectively, promotes the average rubber shaft sleeve sub-assembly output of day to promote the assembly speed of other assembly lines.
Particularly, one end of the conveying belt 5 is arranged at the shaft sleeve stacking box, the other end of the conveying belt is arranged at the placing mechanism, and workers need to place shaft sleeves in the shaft sleeve stacking box on the conveying belt 5 in a standing state for conveying.
The arrangement mechanism comprises a workbench 4, a shaft sleeve grabbing manipulator assembly 1 and a plurality of framework row plates, wherein the shaft sleeve grabbing manipulator assembly 1 comprises a four-axis mechanical arm 2 and a grabbing manipulator arranged at the output end of the four-axis mechanical arm 2, the four-axis mechanical arm 2 is fixedly arranged on the workbench 4, a placing station for placing the framework row plates is arranged on the table top of the workbench 4, the plurality of vacant framework row plates can be stored in the inner cavity of the workbench 4, the grabbing manipulator can move back and forth on a conveying belt 5 and the framework row plates under the driving of the four-axis mechanical arm 2, sleeves on the conveying belt 5 are grabbed, and the sleeves are placed in loading hole positions in the framework row plates; in this embodiment, the grabbing manipulator comprises a grabbing frame 11 and a plurality of first claws 10 movably arranged on a beam 111 rod of the grabbing frame 11, and the distance between adjacent first claws 10 can be adjusted, and is determined according to the distance between loading hole positions of framework row plates; the distance adjustment method comprises the following steps that two implementation schemes are provided, wherein one scheme is that each independent first jaw 10 is adjusted independently through manual work, under the scheme, the top of each first jaw 10 positions the position of each first jaw 10 on a cross beam 111 rod in a bolt screwing mode, when the distance adjustment is needed, the first jaws 10 can freely slide on the cross beam 111 rods only by loosening bolts, and after the positions are determined, the bolts are screwed, so that the advantages of the scheme are that the positions of the first jaws 10 can be accurately positioned, and the first jaws 10 are accurately matched with loading hole positions of framework spareribs; secondly, the distance is automatically adjusted through the linkage between the first claws 10, the embodiment mainly adopts the latter scheme for further explanation, four first claws 10 are movably arranged on a beam 111 rod on the grabbing frame 11, a lifting column 12 is arranged at the top of the grabbing frame 11, two multi-stage connecting rods are hinged at the same side of the four first claws 10, the multistage connecting rod comprises a first connecting rod 13 and a second connecting rod 14, the first connecting rod 13 is longer than the second connecting rod 14, one end of the second connecting rod 14 is hinged on the side part of a first claw 10 on the opposite outer side, the middle part of the first connecting rod 13 is hinged on the adjacent first claw 10, one end of the first connecting rod 13 is hinged on the other end of the second connecting rod 14, the other end of the first connecting rod 13 is hinged on the lifting column 12, the other two symmetrical first claws 10 are also connected by adopting the same mode and the same structure of multi-stage connecting rods; when the lifting column 12 is lifted upwards, the four first claws 10 are linked by the multi-stage connecting rods to realize the contraction of the space; when the lifting column 12 falls back downwards, the four first claws 10 are linked by the multi-stage connecting rods to realize the expansion of the spacing, and further realize the process of adjusting the spacing by linking the first claws 10, the technical scheme has the advantages of reducing the manual complicated operation and realizing the automatic distance adjusting effect, and the top end of the lifting column 12 is connected with a driving cylinder to further drive the lifting column 12 to ascend or fall back; the first jaw 10 comprises a shaft rod 102 and two elastic convex parts arranged on two sides of the bottom end of the shaft rod 102, and the two elastic convex parts can stretch relative to the shaft rod 102; in addition, in this embodiment, a specific sliding manner of the first jaw and the cross beam is that a slider is arranged at the top of the first jaw, two ends of the slider are U-shaped sliding arms with openings facing each other, the grabbing frame 11 is provided with two parallel cross beams, the two U-shaped sliding arms are respectively hung on the two cross beams, the grabbing frame 11 is provided with an air cylinder 15, a telescopic end of the air cylinder 15 is provided with a pressing plate 16, at least a part of the top of the slider is recessed downward, the pressing plate 16 is driven by the air cylinder to move downward into the recess but not to abut against the inner wall of the recess, which has the advantages that, on one hand, when the lifting column is prevented from linking the multi-stage connecting rods, the first jaw is separated from the cross beam, and on the other hand, the first jaw is convenient to replace the first jaw, that the air cylinder 15 is started to move upward, and after the pressing plate 16 moves upward, the first jaw; in the process of grabbing the shaft sleeve, the bottom end of the shaft rod 102 is inserted from one end of an inner diameter hole of the shaft sleeve and is inserted out from the other end of the inner diameter hole of the shaft sleeve, after the shaft rod 102 is inserted out, the two elastic lugs extend out relative to the shaft rod 102 and abut against the bottom of the shaft sleeve, and the shaft rod 102 penetrates through the shaft sleeve and grabs the shaft sleeve; when the shaft sleeve is placed, the two elastic lugs are contracted relative to the shaft rod 102, and the bottom of the shaft sleeve slides from the shaft rod 102 to the loading hole positions of the framework row disc under the condition of no offset and depending on the self gravity; specifically, the shaft lever 102 is a hollow structure, two through holes are formed in the shaft body on two opposite sides of the bottom end of the shaft lever 102, two locking balls 101 are arranged inside the shaft lever 102, at least part of the locking balls 101 are located in the through holes, a driving rod 103 is arranged in the shaft lever 102, two sides of one end of the driving rod 103 are inclined surfaces 1021 and are clamped between the two locking balls 101, the other end of the driving rod 103 is connected with an air cylinder, when the driving rod 103 is driven by the air cylinder to move downwards, the driving rod 103 extrudes the two locking balls 101 outwards, and part of the locking balls 101 deforms and is exposed outside the through holes to form the elastic convex parts; when the driving rod 103 moves upwards, the two lock balls 101 retract inwards; of course, in other embodiments, the lock ball 101 is changed into a lock cylinder, one end of the lock cylinder is provided with an elastic member, and the other end of the lock cylinder can movably pass through the through hole; the part of lock post in axostylus axostyle 102 is equipped with the inclined plane piece, the bottom side of actuating lever 103 is the inclined plane 1021 with inclined plane piece butt complex, through pressing down the axostylus axostyle, realizes making a round trip flexible of actuating lever 103, further reaches the function that the locking was snatched or the unblock was placed.
The delivery mechanism comprises a delivery vehicle 8, wherein two object placing areas are arranged on the delivery vehicle 8, one object placing area is used for placing a second framework row tray 9 loaded with full annular wafers, and the other object placing area is used for placing a first framework row tray 3 loaded with full axial trays; when a first framework row disc 3 is fully loaded with the shaft sleeves, a worker moves the first framework row disc 3 out of the workbench 4 and carries the first framework row disc into the delivery vehicle 8, and if a plurality of first framework row discs 3 need to be delivered at one time, the first framework row discs 3 are sequentially stacked and placed in the delivery vehicle 8 and are manually pushed to the delivery vehicle 8 and delivered to the position of the rubber shaft sleeve assembly material taking mechanism 7; of course, in other embodiments, the delivery mechanism may also be implemented as a delivery belt, and the first skeleton row tray 3 loaded with full shaft sleeves is delivered to the rubber shaft sleeve assembly taking mechanism 7 through the delivery belt in sequence, and is stacked at the end of the delivery belt to wait for the rubber shaft sleeve assembly taking mechanism 7 to grasp; a plurality of annular wafers can be placed in one loading hole of the second framework row disk 9, so that a manipulator is not used for grabbing and placing, a manual placing mode is adopted, and a structure of the loading hole of the second framework row disk 9 needs to be further elaborated, wherein an inner wall hole of the loading hole comprises a first circular section 91 and a second circular section 92, the axis of the first circular section 91 and the axis of the second circular section 92 are not in the same straight line, a side shaft wall of the second circular section 92 is raised inwards relative to the shaft wall of the first circular section 91, a step wall surface 93 is formed between the top surface of the shaft wall of the raised part and the shaft wall of the first circular section 91, the inner diameter of the second circular section 92 is matched with the outer diameter of the annular wafers, the annular wafers are stacked in the second circular section, the inner diameter of the first circular section 91 is larger than that of the second circular section 92, the reason why the staggered structure is formed is that the annular wafer is thin, and when the sucking disc 711 or the magnetic chuck grabs the annular wafer, the staggered structure is not arranged, so that two annular wafers are easy to continuously grab, and therefore, later detection is required manually or an invalid product is manufactured, resources are wasted, and productivity is low; after the staggered structure is adopted, after the annular wafer is grabbed by the sucker 711 or the magnetic sucker, the annular wafer rises to a certain height and moves horizontally, and the rest annular wafers are automatically separated from the grabbed annular wafer under the abutting fit of the step wall surface 93 so as to ensure the condition of grabbing only one annular wafer; the sucking disc 711 and the second framework row disc 9 can form grabbing equipment specially used for grabbing annular wafers, the annular wafer grabbing equipment is not limited to grabbing annular wafers combined by rubber shaft sleeves, and the grabbing equipment can be adopted to grab and operate when the structure of the annular wafers is similar to or the same as that of the annular wafers.
The injection vulcanizing machine 6 is used for injection vulcanization molding of the rubber shaft sleeve assembly and comprises a case and a mold arranged in the case, the mold comprises a fixed mold 62 and a movable mold 61, a driving part is arranged in the case, and the driving part is connected to the movable mold 61 and drives the movable mold 61 and the fixed mold 62 to automatically mold closing or demolding; a plurality of injection runners 621 are arranged in the cavity of the fixed die 62, a plurality of placing hole sites for placing the shaft sleeve assembly are arranged in the cavity of the movable die 61, each injection runner corresponds to one placing hole site during die assembly, and the injection runners 621 inject rubber materials into the die; how to drive the processes and structures of mold closing, mold opening, injection and vulcanization are not described in detail, and reference can be made to the prior art.
The rubber shaft sleeve assembly taking mechanism 7 comprises a three-axis moving frame and a manipulator assembly arranged on the output end of the three-axis moving frame, the three-axis moving frame is not shown any more, the three-axis moving frame is in the prior art, the structure of the existing three-axis moving frame can be referred to, and three axes refer to an X axis, a Y axis and a Z axis; the output end of the manipulator assembly is a moving arm 73, the manipulator assembly is movably arranged on the moving arm 73 and is perpendicular to the moving arm 73, and the manipulator assembly can rotate circumferentially around a connecting point with the moving arm 73; specifically, the manipulator assembly comprises a frame body 74, a first grabbing tool 72 and a second grabbing tool 71 which are respectively arranged at two ends of the frame body 74, a rotating motor is arranged at the bottom end of the moving arm 73, a rotating shaft of the rotating motor is connected to the middle of the frame body 74, the orientations of the two ends of the frame body 74 are switched through the rotation of the rotating motor, the rotating angle of the rotating motor is 180 degrees or 360 degrees, if the rotating angle is 180 degrees, a forward rotating motor and a backward rotating motor are adopted, and if the rotating angle is 360 degrees, a single rotating motor is adopted; the first grabbing tool 72 and the second grabbing tool 71 have different functions, and the first grabbing tool 72 is used for grabbing the injection vulcanization molding rubber shaft sleeve assembly in the cavity of the movable mold 61 and the redundant stub bars in the cavity of the fixed mold 62; the second grabbing tool 71 is used for grabbing the shaft sleeves and the annular circular sheets in the framework row disc and placing the shaft sleeves and the annular circular sheets in placing hole positions in the cavity of the movable mold 61, in this embodiment, the first grabbing tool 72 comprises a first grabbing part and a second grabbing part, the setting positions of the first grabbing part and the second grabbing part are opposite, the first grabbing part is arranged at the bottom of the frame body 74 and used for grabbing the molded rubber shaft sleeve assembly in the cavity of the movable mold 61, the second grabbing part is arranged at the top of the frame body 74 and used for grabbing stub bars in the cavity of the fixed mold 62; the first grabbing part comprises a plurality of second clamping jaws, and the structural mode, the grabbing mode and the placing mode of the second clamping jaws are the same as those of the second clamping jaws of the grabbing manipulator, so that repeated description is omitted; the second grabbing part comprises a first clamping plate 721, a second clamping plate 722 and a driver, the driver is connected to one side of the second clamping plate 722 and drives the second clamping plate 722 to be capable of translating relative to the first clamping plate 721, the driver can be a motor or an air cylinder, a plurality of material taking through holes 7211 are formed in the first clamping plate 721, the second clamping plate 722 is located between the first clamping plate 721 and the frame body 74, and a plurality of clamping through holes 7221 corresponding to the material taking through holes 7211 are formed in the second clamping plate 722; in an initial state, the material taking through hole 7211 is overlapped with the hole center of the clamping through hole 7221, when the second clamp plate 722 is driven by the motor to translate for a period of displacement, the material taking through hole 7211 is staggered with the hole center of the clamping through hole 7221, and the hole diameter of the clamping through hole 7221 is consistent with the hole diameter of the material taking through hole 7211; before displacement occurs, each clamping through hole 7221 corresponds to a material taking through hole 7211, and the hole centers of the clamping through hole 7221 and the material taking through hole 7211 are on the same axis; the overlapped part of the material taking through hole 7211 and the clamping through hole 7221 is used as a staggered clamping cavity for clamping a stub bar; of course, in other embodiments, the injection stub bar grabbing robot includes two drivers, one end of the first clamping plate 721 is provided with a driver, one end of the second clamping plate 722 is provided with a driver, and the translation direction of the first clamping plate 721 is opposite to that of the second clamping plate 722, so that the first clamping plate 721 and the second clamping plate 722 can translate with each other, and the clamping efficiency and the clamping speed are improved; in some embodiments, a motor is disposed at the center of the bottom of the second clamp plate 722, and the motor can drive the second clamp plate 722 to rotate relative to the first clamp plate 721, so that the holes are staggered by rotating to form a staggered clamping cavity; the first clamp plate 721 is provided with a circle of mounting holes along the edge, the second clamp plate 722 is provided with adjusting holes corresponding to the mounting holes along the edge, and the length of the aperture of each adjusting hole is equal to the sum of the aperture of each mounting hole and the horizontal displacement; further, when the stub bar of the injection channel 621 in the cavity of the fixed mold 62 needs to be clamped, the end of the stub bar is inserted into the material taking through hole 7211 and the clamping through hole 7221, after the driving of the motor, the second clamping plate 722 is displaced, the inner wall of the material taking through hole 7211 and the inner wall of the clamping through hole 7221 are used as left and right clamping plates to clamp the stub bar, and the stub bar is pulled out from the injection channel 621 under the movement of the moving arm 73, so that the process of taking the material from the stub bar is realized. The second grabbing tool 71 comprises a plurality of third claws, and the structure of the third claws is the same as that of the first claws 10 and the second claws of the first grabbing part of the grabbing manipulator, but different from that of the first grabbing part: the second grabbing tool 71 further comprises a plurality of suckers 711, two suckers 711 are symmetrically arranged on two sides of each third claw, the distance between the two suckers 711 is greater than the inner aperture of the annular wafer and smaller than the outer diameter of the annular wafer so as to ensure that the suckers 711 are adsorbed on the annular part of the annular wafer to effectively suck the annular wafer, and the third claws ensure that the shaft sleeve is located in the center of the annular wafer when grabbing the shaft sleeve; wherein, the benefit that first jack catch 10, second jack catch and third jack catch adopt this mode to snatch the axle sleeve lies in the simple structure of its jack catch, based on the self structural feature of axle sleeve, snatchs the convenience, and is easy and simple to handle, and is with low costs, efficient. In addition, in this embodiment, the second jaw of the first grabbing part is averagely divided into four areas, each area is provided with a driving cylinder, and the second jaws in the area can grab or place through the driving cylinders, so that the subsequent maintenance of the second jaws is facilitated, the pressure of the control assembly is reduced, and the second grabbing tool can be driven in a block manner; wherein, laid a plurality of displacement sensor on the second snatchs frock 71, displacement sensor is used for whether have the circumstances such as the axle sleeve subassembly misplacing of foreign matter or movable mould 61 die cavity in the scanning mould leaks putting, when setting up this displacement sensor on the equipment of snatching that snatchs the annular disk, displacement sensor can scan whether the annular disk leaks to grab or grab more and so on the circumstances.
The specific use method of the system is as follows:
step 1: placing the shaft sleeve placed in the shaft sleeve stacking box on a conveying belt 5 in a standing state to convey the shaft sleeve;
step 2: the grabbing manipulator is driven by the four-axis mechanical arm 2 to grab four shaft sleeves on the conveying belt 5 at one time, and after the grabbing is successful, the grabbing manipulator drives the shaft sleeves to move back to the upper side of the framework row plate by the driving of the four-axis mechanical arm 2, and the shaft sleeves are placed in corresponding loading hole positions of the framework row plate;
and step 3: taking out the first framework row disc 3 filled with the shaft sleeve and the second framework row disc 9 filled with the annular circular disc from the workbench 4, carrying into the delivery vehicle 8 for stacking and storage, and pushing the delivery vehicle 8 to the rubber shaft sleeve assembly taking mechanism 7 after the delivery vehicle 8 is filled with the framework row discs, so as to wait for the rubber shaft sleeve assembly taking mechanism 7 to grab;
and 4, step 4: the mechanical arm assembly moves downwards under the driving of the three-axis moving frame, the second grabbing tool 71 is close to the second framework row disc 9, the sucking disc 711 sucks the annular wafer, then the second grabbing tool 71 moves to be close to the first framework row disc 3, and the clamping jaws penetrate through the end part of the inner diameter hole of the shaft sleeve to grab the shaft sleeve; after grabbing, moving upwards, rotating 180 degrees, enabling a second grabbing tool 71 to face a mold of the injection vulcanizing machine 6, translating, enabling the second grabbing tool 71 to extend into a space between the fixed mold 62 and the movable mold 61, moving downwards, enabling the second grabbing tool 71 to be close to a cavity of the movable mold 61, and placing the shaft sleeve and the annular wafer into a placing hole position in the cavity of the movable mold 61; moving upwards and retreating, withdrawing the second grabbing tool 71 out of the injection vulcanizing machine 6, reversing 180 degrees, and carrying out the next operation of grabbing the annular wafer and the shaft sleeve;
and 5: the injection vulcanizing machine 6 carries out mold closing, rubber material injection, vulcanization and finally mold opening; meanwhile, after the three-axis moving frame is reversed by 180 degrees in the step 4, the first grabbing tool 72 faces the mold of the injection vulcanizing machine 6 again, the moving arm 73 is translated, the first grabbing tool 72 is moved to extend into the mold and move downwards, the clamping jaws of the first grabbing part extend into the inner diameter holes of the shaft sleeve and abut against the shaft sleeve to grab the shaft sleeve and move upwards, and the molded rubber shaft sleeve assembly is taken out from the cavity of the movable mold 61;
step 6: after the molded rubber shaft sleeve assembly is taken out, the first grabbing tool 72 continues to ascend, and a stub bar ascending into the cavity of the fixed die 62 is inserted into the material taking through hole 7211 and the clamping through hole 7221; starting the cylinder, translating the second clamping plate 722, clamping the stub bar, moving the second grabbing part downwards, taking the stub bar out of the injection runner 621, translating, moving the first grabbing tool 72 out of the injection vulcanizing machine 6, and finally discharging and storing;
and 7: and (6) repeating the steps 4 to 6 to prepare the molded rubber shaft sleeve assembly in batches.
Wherein, executing step 2 further comprises: step 2.1: the cylinder on the output end of the four-axis mechanical arm 2 drives the lifting column 12 to move upwards or downwards, and the distance between the clamping jaws between adjacent clamping jaws is adjusted based on the distance between the loading hole positions of the framework row disc through linkage of the multi-stage connecting rods;
step 2.2: in the grabbing process, the cylinder drives the driving rod 103 to press downwards, the two lock balls 101 are extruded to protrude out of the through hole, and the two lock balls 101 are abutted to the shaft sleeve to grab; in the placing process, the cylinder drives the driving rod 103 to move upwards, the two locking balls 101 retract into the through holes, and the shaft sleeve falls into the loading hole positions of the framework row plate by self gravity.
Wherein, step 4 further comprises: step 4.1: when the suction cup 711 sucks the ring-shaped wafer at the top, the ring-shaped wafer moves upwards to the position where the first ring-shaped wafer enters the first circular section 91, and moves towards the inner wall with the step wall surface 93, and the rest sucked ring-shaped wafers fall back into the second circular section 92 under the pushing of the step wall surface 93.
It will be appreciated by persons skilled in the art that the embodiments of the invention described above and shown in the drawings are given by way of example only and are not limiting of the invention.
The objects of the invention have been fully and effectively accomplished. The functional and structural principles of the present invention have been shown and described in the examples, and any variations or modifications of the embodiments of the present invention may be made without departing from the principles.
Claims (10)
1. An injection vulcanization molding system for a rubber bushing assembly, comprising:
the conveying mechanism is used for conveying the shaft sleeve;
the shaft sleeve grabbing mechanism is used for grabbing shaft sleeves and moving the shaft sleeves back and forth between the conveying mechanism and the framework row disc;
the rubber shaft sleeve assembly taking mechanism (7) comprises a three-axis moving frame and a manipulator assembly arranged on the output end of the three-axis moving frame, wherein the manipulator assembly is relatively perpendicular to the output end and can rotate in the circumferential direction, the manipulator assembly comprises a frame body (74) and a first grabbing tool (72) and a second grabbing tool (71) which are respectively arranged at two ends of the frame body (74), and the first grabbing tool (72) is used for grabbing an injection vulcanization molding rubber shaft sleeve assembly in a cavity of a movable die (61) and a stub bar in a cavity of a fixed die (62); the second grabbing tool (71) is used for grabbing the shaft sleeve and the annular wafer and placing the shaft sleeve and the annular wafer in a placing hole in a cavity of the movable die (61); the first grabbing tool (72) and the second grabbing tool (71) are switched to stretch into the space between the fixed die (62) and the movable die (61) to grab and place movement through rotation;
the framework row disc is transported to a rubber shaft sleeve assembly material taking mechanism (7) through the delivery mechanism;
the injection vulcanizing machine (6) is used for injection vulcanization molding of the rubber shaft sleeve assembly, comprises a case and a mold arranged in the case, and comprises a fixed mold (62) and a movable mold (61), wherein a driving part is arranged in the case and connected to the movable mold (61) and drives the movable mold (61) and the fixed mold (62) to automatically mold or demold; a plurality of injection runners (621) are arranged in a cavity of the fixed die (62), a plurality of placing hole sites for placing the shaft sleeve assembly are arranged in a cavity of the movable die (61), and each injection runner corresponds to one placing hole site during die assembly.
2. The rubber bushing assembly injection vulcanization molding system of claim 1, wherein the bushing grabbing robot comprises a four-axis robot (2) and a grabbing robot disposed on an output end of the four-axis robot (2); the grabbing manipulator comprises a grabbing frame (11) and a plurality of first clamping jaws (10) movably arranged on a cross beam (111) rod of the grabbing frame (11), the distance between every two adjacent first clamping jaws (10) can be freely adjusted, and the distance is determined according to the distance between loading hole positions of framework row discs.
3. The injection vulcanization molding system of claim 1, wherein the first gripping tool (72) comprises a first gripping portion and a second gripping portion, the first gripping portion and the second gripping portion are arranged in opposite positions, the first gripping portion is arranged at the bottom of the frame body (74), and the first gripping portion is used for gripping the molded rubber bushing assembly in the cavity of the movable mold (61); the second portion of snatching sets up at support body (74) top, and the second portion of snatching is used for snatching the stub bar in cover half (62) die cavity.
4. The injection vulcanization molding system of claim 3, wherein the first gripping portion comprises a plurality of second claws, the second claws can extend into the inner hole of the shaft sleeve, two elastic protruding points are arranged at the bottom ends of the second claws, and the elastic protruding points abut against the shaft sleeve to grip the molded rubber shaft sleeve assembly.
5. The rubber spindle sleeve assembly injection vulcanization molding system of claim 3, wherein the second gripping portion comprises a first clamping plate (721), a second clamping plate (722) and a driver, the driver is connected to one side of the second clamping plate (722) and can drive the second clamping plate (722) to translate relative to the first clamping plate (721), a plurality of material taking through holes (7211) are formed in the first clamping plate (721), the second clamping plate (722) is located between the first clamping plate (721) and the frame body (74), and a plurality of clamping through holes (7221) corresponding to the material taking through holes (7211) are formed in the second clamping plate (722); the overlapped part of the clamping through hole (7221) and the material taking through hole (7211) is used as a staggered clamping cavity for clamping the stub bar.
6. The injection vulcanization molding system of claim 1, wherein the second grabbing tool (71) comprises a plurality of third clamping jaws, two suction cups (711) are symmetrically arranged on two sides of each third clamping jaw, and the distance between the two suction cups (711) is larger than the inner diameter of the annular disc and smaller than the outer diameter of the annular disc.
7. A method of using a rubber bushing assembly injection vulcanization molding system, comprising:
step 1: placing the shaft sleeve placed in the shaft sleeve stacking box on a conveying belt (5) in a standing state so as to convey the shaft sleeve;
step 2: the grabbing manipulator is driven by the four-axis mechanical arm (2) to grab four shaft sleeves positioned on the conveying belt (5) at one time, after grabbing is successful, the grabbing manipulator drives the shaft sleeves to move back to the upper side of the framework row plate through the driving of the four-axis mechanical arm (2), and the shaft sleeves are placed in corresponding loading hole positions of the framework row plate;
and step 3: taking out a first framework row disc (3) filled with the shaft sleeve and a second framework row disc (9) filled with the annular circular disc from a workbench (4), carrying into a delivery vehicle (8) for stacking and storing, and pushing the delivery vehicle (8) to a rubber shaft sleeve assembly taking mechanism (7) after the delivery vehicle (8) is filled with the framework row discs to be grabbed by the rubber shaft sleeve assembly taking mechanism (7);
and 4, step 4: the mechanical arm assembly moves downwards under the driving of the three-axis moving frame, the second grabbing tool (71) is close to the second framework row disc (9), the sucking disc (711) sucks the annular wafer, then the second grabbing tool (71) moves to be close to the first framework row disc (3), and the clamping jaws penetrate through the end part of the inner diameter hole of the shaft sleeve to grab the shaft sleeve; after grabbing, moving upwards, rotating 180 degrees, enabling a second grabbing tool (71) to face a mold of the injection vulcanizing machine (6), translating, enabling the second grabbing tool (71) to extend into a position between the fixed mold (62) and the movable mold (61), moving downwards, enabling the second grabbing tool (71) to be close to a cavity of the movable mold (61), and placing the shaft sleeve and the annular wafer into a placing hole position in the cavity of the movable mold (61); moving upwards and retreating, withdrawing the second grabbing tool (71) from the injection vulcanizing machine (6), reversing 180 degrees, and carrying out next annular wafer grabbing and shaft sleeve grabbing operation;
and 5: an injection vulcanizing machine (6) carries out die assembly, rubber material injection, vulcanization and finally die opening; meanwhile, after the three-axis moving frame is reversed by 180 degrees in the step 4, the first grabbing tool (72) faces the mold of the injection vulcanizing machine (6) again, the moving arm (73) translates, the first grabbing tool (72) is moved to extend into the mold and move downwards, the clamping jaws of the first grabbing part extend into the inner diameter hole of the shaft sleeve and abut against the shaft sleeve to grab the shaft sleeve and move upwards, and the molded rubber shaft sleeve assembly is taken out of the cavity of the movable mold (61);
step 6: after the molded rubber shaft sleeve assembly is taken out, the first grabbing tool (72) continues to move upwards, and a stub bar which moves upwards into a cavity of the fixed die (62) is inserted into the material taking through hole (7211) and the clamping through hole (7221); starting the cylinder, translating the second clamping plate (722), clamping the stub bar, moving the second grabbing part downwards, taking the stub bar out of the injection runner (621), translating, moving the first grabbing tool (72) out of the injection vulcanizing machine (6), and finally discharging and storing;
and 7: and (6) repeating the steps 4 to 6 to prepare the molded rubber shaft sleeve assembly in batches.
8. Use according to claim 7, wherein step 2 comprises: step 2.1: before the four-axis mechanical arm (2) is driven to grab and move and grab, a cylinder on the output end of the four-axis mechanical arm (2) drives a lifting column (12) to move upwards or downwards, and the distance between the clamping jaws between adjacent clamping jaws is adjusted based on the distance between the loading hole positions of the framework row disc through linkage of the multi-stage connecting rods.
9. The use of claim 8, wherein step 2 further comprises: step 2.2: in the grabbing process, the cylinder drives the driving rod (103) to press downwards, the two lock balls (101) are extruded to protrude out of the through hole, and the two lock balls (101) are abutted against the shaft sleeve to be grabbed; in the placing process, the cylinder drives the driving rod (103) to move upwards, the two lock balls (101) retract into the through hole, and the shaft sleeve falls into the loading hole of the framework row plate by self gravity.
10. The use of claim 8, wherein step 4 further comprises: step 4.1: when the sucking disc (711) sucks the annular disc positioned at the top, the annular disc moves upwards to the position that the first annular disc enters the first circular section (91) and translates towards the inner wall with the step wall surface (93), and the rest sucked annular discs fall back into the second circular section (92) under the pushing of the step wall surface (93).
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| CN114248478A (en) * | 2021-11-10 | 2022-03-29 | 海宁红狮宝盛科技有限公司 | Flexible forming device for rubber bag |
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| CN111244002A (en) * | 2020-03-25 | 2020-06-05 | 铜陵富仕三佳机器有限公司 | A novel manipulator that snatchs for IC chip encapsulation |
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| CN112209144A (en) * | 2020-10-23 | 2021-01-12 | 广东格林精密部件股份有限公司 | Automatic production line and production method for wrapping cloth products |
| CN112406011A (en) * | 2020-11-05 | 2021-02-26 | 广东顺威自动化装备有限公司 | Automatic production equipment for cross-flow fan blade end cover |
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| CN113696420A (en) * | 2021-08-31 | 2021-11-26 | 余姚市科琳日用品有限公司 | Automatic production equipment for multi-cavity efficient dental floss rod |
| CN114248478A (en) * | 2021-11-10 | 2022-03-29 | 海宁红狮宝盛科技有限公司 | Flexible forming device for rubber bag |
| CN114248478B (en) * | 2021-11-10 | 2023-09-22 | 海宁红狮宝盛科技有限公司 | Flexible rubber bag forming device |
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